diff options
Diffstat (limited to 'uav_uncertainty.m')
| -rw-r--r-- | uav_uncertainty.m | 27 |
1 files changed, 14 insertions, 13 deletions
diff --git a/uav_uncertainty.m b/uav_uncertainty.m index 7cd7e38..03b7b3b 100644 --- a/uav_uncertainty.m +++ b/uav_uncertainty.m @@ -26,18 +26,18 @@ eps_d = params.aerodynamics.DragCoefficientsUncertainties(1); % eps_0 = params.aerodynamics.DragCoefficients(2); eps_omega = max(.5 * eps_T, eps_r); -eps_alpha = max(eps_l + eps_S + 2 * eps_omega, eps_S + eps_d + eps_omega); +eps_alpha = max(eps_l + eps_S + 2 * eps_omega, eps_S + eps_d + eps_omega) b = 12; -G = make_weight(b, 2, .2); - -W_malpha = .1 * eps_alpha * G; -W_momega = .1 * eps_omega * G; -W_mState = blkdiag( ... - .05 * tf(1) * eye(3), ... - .01 * tf(1) * eye(3), ... - .001 * tf(1) * eye(3), ... - .05 * tf(1) * eye(3) ... +T = 1; +G = make_weight(b, 4, 1); + +W_malpha = eps_alpha * tf(1); +W_momega = eps_omega * tf(1); +W_mState = (1 - tf(1, [T, 1])) * blkdiag( ... + .2 * eye(3), ... + .1 * eye(3), ... + .2 * eye(3) ... ); uncert = struct(... @@ -56,12 +56,13 @@ if do_plots bodemag(W_mState(1,1)); bodemag(W_mState(4,4)); bodemag(W_mState(7,7)); - bodemag(W_mState(11,11)); grid on; legend('$W_{m,\alpha}$', '$W_{m,\omega}$', ... - '$W_{m,\mathbf{P}}$', '$W_{m,\mathbf{\dot{P}}}$', ... - '$W_{m,\mathbf{\Theta}}$', '$W_{m,\mathbf{\Omega}}$', ... + ... % '$W_{m,\mathbf{P}}$', ... + '$W_{m,\mathbf{\dot{P}}}$', ... + '$W_{m,\mathbf{\Theta}}$', ... + '$W_{m,\mathbf{\Omega}}$', ... 'interpreter', 'latex') title('\bfseries Stability Requirement (only for $\mu$-Synthesis)', ... 'interpreter', 'latex') |